Alignment method and device for lens and sensor

Abstract

The invention relates to a lens and sensor alignment method and equipment, and the method comprises the steps: obtaining the information of a standard light spot formed by a preset parallel light source which directly irradiates a preset light receiving screen, and the parallel light source comprises a central light source and at least two groups of auxiliary light sources which are symmetrically disposed at the two sides of the central light source; controlling a to-be-aligned lens to move between the parallel light source and the light receiving screen by referring to the standard light spot information, and recording multiple groups of measurement information; calculating the optical axis and focus position of the to-be-aligned lens based on the multiple groups of measurement information; the to-be-aligned sensor is controlled to move in the space, so that the to-be-aligned sensor is perpendicular to the optical axis, and the geometric center of the sensor coincides with the focus, the problems of high alignment cost, low efficiency and poor precision of the lens and the sensor in the prior art are solved, active alignment is performed by adopting a physical optical axis center finding mode, the error is small, and the accuracy is high. Moreover, the construction requirement of an alignment environment is not high, the cost is reduced, and the alignment efficiency is improved.

Description

Technical Field

[0001] The present application relates to the technical field of lens alignment, and particularly to an alignment method and device for a lens and a sensor. Background Art

[0002] With the continuous upgrading of the pixels of optoelectronic imaging sensors, the resolution of the lens in the camera is required to be higher and higher. However, compared with the optoelectronic imaging sensor, the resolution margin of the lens is getting smaller and smaller, that is, the depth of focus range of the camera module is getting smaller and smaller, so the accuracy required for the assembly of the camera module is higher. In addition, in some high-precision fields, such as the medical field, good image consistency is required, and color or other problem deviations should not occur, resulting in misjudgment by doctors or difficult judgment. Therefore, in such an imaging module, the alignment between the lens module and the image sensor is very important for achieving better image quality during image acquisition.

[0003] Currently, the automatic focusing method of active focusing devices basically uses the method of outputting images and uses image algorithms to perform active focusing of the lens and the sensor, such as the hill climbing method. Although the use of image algorithms can reduce the assembly tolerance of the entire module to a certain extent and can also improve the consistency of optical lens products. However, the active focusing process equipment has disadvantages such as high cost, slow process speed, and large equipment volume. In addition, there are certain model errors in image output and image algorithms, which cannot truly reflect the theoretical physical position data of the lens and the sensor, resulting in insufficient alignment accuracy.

[0004] Regarding the problems of high cost, low efficiency, and poor accuracy in the alignment of the lens and the sensor in the related art, no effective solution has been proposed yet. Summary of the Invention

[0005] In this embodiment, an alignment method and device for a lens and a sensor are provided to solve the problems of high cost, low efficiency, and poor accuracy in alignment in the related art.

[0006] In a first aspect, in this embodiment, an alignment method for a lens and a sensor is provided, and the method includes:

[0007] Obtain standard spot information formed by a preset parallel light source directly irradiating on a preset light receiving screen, where the parallel light source includes a central light source and an auxiliary light source spaced a preset distance from the central light source;

[0008] With reference to the standard spot information, control the lens to be aligned to move between the parallel light source and the light receiving screen, and record multiple groups of measurement information; the measurement information includes the position measurement information of the lens to be aligned and the corresponding spot measurement information; the spot measurement information is the spot position information obtained from the light receiving screen when the parallel light source passes through the lens to be aligned;

[0009] Calculate the positions of the optical axis and the focus of the lens to be aligned relative to the receiving screen based on multiple sets of the measurement information and the standard spot information;

[0010] Control the sensor to be aligned to move in space so that the sensor to be aligned is perpendicular to the optical axis and the geometric center of the sensor coincides with the focus.

[0011] In some embodiments, referring to the standard spot information, control the lens to be aligned to move between the parallel light source and the receiving screen, and record multiple sets of measurement information, including:

[0012] Referring to the position information of the central light source in the standard spot information, adjust the position of the lens to be aligned between the parallel light source and the receiving screen so that the optical center of the lens to be aligned is located on the reference line; the reference line is the line where the light rays of the central light source are located;

[0013] Adjust the lens to be aligned on the reference line to sequentially make the auxiliary measurement spots formed by each auxiliary light source passing through the lens to be aligned coincide with the positions of the spots of the corresponding auxiliary light sources in the standard spot information, and record multiple sets of measurement information, where the multiple sets of measurement information include the measurement position information of the lens to be aligned and the corresponding measurement spot information when each position coincides.

[0014] In some embodiments, referring to the position information of the central light source in the standard spot information, adjusting the position of the lens to be aligned between the parallel light source and the receiving screen so that the optical center of the lens to be aligned is located on the reference line includes:

[0015] Place the lens to be aligned at a first position, where the first position is any position between the parallel light source and the receiving screen;

[0016] Record the central measurement spot formed on the receiving screen by the central light source passing through the lens to be aligned at the first position;

[0017] Based on the position difference between the central measurement spot and the standard central spot corresponding to the central light source in the standard spot information, adjust the position of the lens to be aligned until the central measurement spot coincides with the standard central spot, and complete placing the optical center of the lens to be aligned on the reference line.

[0018] In some embodiments, adjusting the lens to be aligned on the reference line to sequentially make the auxiliary measurement spots formed by each auxiliary light source passing through the lens to be aligned coincide with the positions of the spots of the corresponding auxiliary light sources in the standard spot information, and record multiple sets of measurement information, including:

[0019] Place the lens to be aligned at a second position, where the second position is any position on the reference line;

[0020] Record the auxiliary measurement light spot formed on the receiving screen after the auxiliary light source passes through the lens to be aligned at the second position;

[0021] Based on the relationship between the auxiliary measurement light spot and the position information of the standard light spot, determine the moving direction on the reference line;

[0022] Adjust the lens to be aligned based on the moving direction, successively make each auxiliary measurement light spot coincide with the standard light spot information, and record multiple groups of measurement information.

[0023] In some embodiments, based on multiple groups of the measurement information and the standard light spot information, calculate the positions of the optical axis and the focus of the lens to be aligned relative to the receiving screen, including:

[0024] The auxiliary light source includes at least two pairs of auxiliary light sources. The connection line between the two auxiliary light sources in each pair passes through the central light source, and at least two of the connection lines are perpendicular to each other;

[0025] Establish a Cartesian coordinate system based on the plane where the receiving screen is located. Among them, use the central light source in the standard light spot information as the origin, establish the X-axis and the Y-axis in the directions corresponding to two mutually perpendicular connection lines, and establish the Z-axis based on the reference line;

[0026] Based on the measurement position information corresponding to at least two pairs of auxiliary light sources with perpendicular connection lines, calculate the offset of the optical axis of the lens to be aligned relative to the X-axis and the Y-axis;

[0027] Based on the measurement position information, the corresponding measurement light spot information, and the standard light spot information corresponding to at least two pairs of auxiliary light sources with perpendicular connection lines, calculate the relative position information between the focus of the lens to be aligned and the origin.

[0028] In some embodiments, based on the measurement position information, the corresponding measurement light spot information, and the standard light spot information corresponding to at least two pairs of auxiliary light sources with perpendicular connection lines, calculate the relative position information between the focus of the lens to be aligned and the origin, including:

[0029] For each auxiliary light source in each pair of auxiliary light sources, based on the calculation parameters of the current auxiliary light source and the opposite-side auxiliary light source, calculate the focus position compensation amount of the current auxiliary light source; where the calculation parameters include the measurement position information, the measurement light spot information, and the standard light spot information;

[0030] Calculate the relative position information between the focus of the lens to be aligned and the origin based on the focus position compensation amounts of the respective auxiliary light sources and the corresponding measurement position information.

[0031] In some embodiments, controlling the sensor to be aligned to move in space so that the sensor to be aligned is perpendicular to the optical axis and the geometric center of the sensor coincides with the focus includes:

[0032] Based on the offsets of the optical axis of the lens to be aligned with respect to the X-axis and the Y-axis, adjust the position of the sensor to be aligned in space so that the target surface of the sensor to be aligned is perpendicular to the optical axis;

[0033] Move the geometric center of the sensor to be aligned to the position of the origin;

[0034] Based on the relative position information, move the sensor to be aligned on the Z-axis so that the geometric center of the sensor coincides with the focus.

[0035] In some embodiments, after calculating the relative position information between the focus of the lens to be aligned and the origin, it further includes:

[0036] Obtain the starting position of the lens to be aligned, where the starting position is the position of the lens to be aligned when the first auxiliary measurement light spot coincides with the standard light spot information;

[0037] Control the lens to be aligned to move to the target position on the reference line, where the distance between the target position and the starting position is equal to the distance in the relative position information.

[0038] In a second aspect, in the present embodiment, a device is provided, including: a parallel light source, a receiving light screen, a light spot detection device, a first adjustment device, a second adjustment device, and a control device;

[0039] The light spot detection device is used to collect the light spot information on the receiving light screen;

[0040] The first adjustment device is used to adjust the position of the lens to be aligned;

[0041] The second adjustment device is used to adjust the position of the sensor to be aligned;

[0042] The control device is respectively connected to the light spot detection device, the first adjustment device, and the second adjustment device, and is used to execute the steps of any one of the methods in the first aspect.

[0043] In a third aspect, the present application also provides a computer device. The computer device includes a memory and a processor. The memory stores a computer program, and when the processor executes the computer program, the alignment method of the lens and the sensor described in the first aspect is implemented.

[0044] In a fourth aspect, the present application also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program thereon, and when the computer program is executed by a processor, the alignment method of the lens and the sensor described in the first aspect is implemented.

[0045] Compared with the related art, in the alignment method and device of the lens and the sensor provided in this embodiment, by obtaining the standard spot information formed by a preset parallel light source directly irradiating on a preset receiving screen, the parallel light source includes a central light source and an auxiliary light source spaced a preset distance from the central light source; referring to the standard spot information, controlling the lens to be aligned to move between the parallel light source and the receiving screen, and recording multiple groups of measurement information; the measurement information includes the position measurement information of the lens to be aligned and the corresponding spot measurement information; the spot measurement information is the spot position information obtained from the receiving screen when the parallel light source passes through the lens to be aligned; calculating the positions of the optical axis and the focus of the lens to be aligned relative to the receiving screen based on multiple groups of the measurement information and the standard spot information; controlling the sensor to be aligned to move in space so that the sensor to be aligned is perpendicular to the optical axis and the geometric center of the sensor coincides with the focus, which solves the problems of high alignment cost, low efficiency and poor accuracy of the lens and the sensor in the related art. By using the physical method of finding the center of the optical axis for active alignment, there will be no errors in depth of field and focal depth, improving the alignment accuracy and consistency, and having low requirements for the construction of the alignment environment, reducing costs and improving alignment efficiency.

[0046] Details of one or more embodiments of the present application are set forth in the following drawings and description to make other features, objects, and advantages of the present application more concise and understandable. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] The drawings described herein are used to provide a further understanding of the present application and form a part of the present application. The illustrative embodiments and descriptions of the present application are used to explain the present application and do not constitute an improper limitation of the present application. In the drawings:

[0048] Figure 1 is a hardware structure block diagram of a terminal for the alignment method of a lens and a sensor in an embodiment of the present application;

[0049] Figure 2 is a flowchart of the alignment method of a lens and a sensor in an embodiment of the present application;

[0050] Figure 3 Front view of the point where parallel light hits the receiving screen when there is no lens in an embodiment of the present application;

[0051] Figure 4 Top view of the point where parallel light hits the receiving screen when there is no lens in an embodiment of the present application;

[0052] Figure 5 Top view of the point where parallel light hits the receiving screen when there is a lens (the optical center is aligned) in an embodiment of the present application;

[0053] Figure 6 Front view of the point where parallel light hits the receiving screen when there is a lens in an embodiment of the present application;

[0054] Figure 7 Schematic diagram of a rectangular coordinate system established after the angle of the sensor to be aligned has been adjusted in an embodiment of the present application;

[0055] Figure 8 Schematic structural diagram of an alignment device for a lens and a sensor in an embodiment of the present application.

[0056] Reference numerals: 102, processor; 104, memory; 106, transmission device; 108, input / output device; 810, parallel light source; 820, receiving screen; 830, spot detection device; 840, first adjustment device; 850, second adjustment device; 851, pose measurement device; 8511, collimator; 8512, second camera; 8513, laser rangefinder; 852, pose adjustment device; 8521, second six-axis displacement stage; 8522, horizontal movement platform; 910, lens to be aligned; 920, sensor to be aligned. Detailed implementation manners

[0057] To more clearly understand the purpose, technical solution and advantages of the present application, the present application will be described and illustrated below with reference to the accompanying drawings and embodiments.

[0058] Unless otherwise defined, technical or scientific terms used in this application shall have the ordinary meanings as understood by those of ordinary skill in the technical field to which this application pertains. In this application, words such as "a", "an", "one kind", "the", "these", etc. do not indicate a limitation in quantity and can be singular or plural. The terms "comprising", "including", "having" and any variations thereof used in this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or modules (units) is not limited to the listed steps or modules (units), but may include unlisted steps or modules (units), or may include other steps or modules (units) inherent in these processes, methods, products or devices. The terms "connected", "coupled" and similar words used in this application do not limit to physical or mechanical connections, but may include electrical connections, whether direct or indirect. The term "plural" used in this application means two or more. "And / or" describes the association relationship of associated objects and indicates that three relationships may exist. For example, "A and / or B" may represent: A exists alone, A and B exist simultaneously, and B exists alone. Generally, the character " / " indicates that the objects before and after are in an "or" relationship. The terms "first", "second", "third", etc. used in this application only distinguish similar objects and do not represent a specific order for the objects.

[0059] The method embodiments provided in this embodiment may be executed on a terminal, a computer or a similar computing device. For example, running on a terminal, Figure 1 is a block diagram of the hardware structure of the terminal for the alignment method of the lens and the sensor in this embodiment. As Figure 1 shown, the terminal may include one or more ( Figure 1 only one is shown in the figure) processors 102 and a memory 104 for storing data. Among them, the processor 102 may include, but is not limited to, a processing device such as a microprocessor MCU or a programmable logic device FPGA. The above terminal may further include a transmission device 106 for communication functions and an input / output device 108. Those of ordinary skill in the art can understand that Figure 1 the structure shown is only schematic and does not limit the structure of the above terminal. For example, the terminal may further include more or fewer components than those shown in Figure 1 the figure, or have a different configuration from that shown in Figure 1 the figure.

[0060] The memory 104 can be used to store computer programs, for example, software programs and modules of application software, such as the computer program corresponding to the alignment method of the lens and the sensor in this embodiment. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, that is, implements the above-mentioned method. The memory 104 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memories. In some instances, the memory 104 may further include a memory remotely disposed relative to the processor 102, and these remote memories can be connected to the terminal through a network. Examples of the above network include but are not limited to the Internet, intranet, local area network, mobile communication network, and their combinations.

[0061] The transmission device 106 is used to receive or send data via a network. The above network includes the wireless network provided by the communication provider of the terminal. In one instance, the transmission device 106 includes a network adapter (abbreviated as NIC), which can be connected to other network devices through a base station and thus can communicate with the Internet. In one instance, the transmission device 106 can be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0062] In this embodiment, an alignment method for a lens and a sensor is provided. Figure 2 is a flowchart of the alignment method for the lens and the sensor in this embodiment, as Figure 2 shown, this process includes the following steps:

[0063] Step S210, obtain the standard spot information formed by a preset parallel light source directly irradiating on a preset receiving screen. The parallel light source includes a central light source and auxiliary light sources spaced a preset distance from the central light source.

[0064] Specifically, refer to Figure 3 , set the parallel light source and the receiving screen opposite to each other, and the position of the receiving screen is fixed. Among them, the receiving screen includes a plastic plate or a metal plate, etc. A first camera is set on the opposite side of the receiving screen to take a photo of the spot on the receiving screen, calculate the spot position information based on the photo of the spot, or, a photoelectric conversion device is set on the receiving screen, and the photoelectric conversion device is used to detect the spot position. In one implementation manner, refer to Figure 4 , the auxiliary light sources include at least two pairs of auxiliary light sources. The connection line of the two auxiliary light sources in each pair passes through the central light source, and the connection lines are perpendicular to each other. In other implementation manners, according to the requirements of calculation accuracy and speed, the number of auxiliary light sources can be reduced or increased based on four auxiliary light sources.

[0065] Step S220: With reference to the standard spot information, control the lens to be aligned to move between the parallel light source and the receiving screen, and record multiple sets of measurement information; the measurement information includes the position measurement information of the lens to be aligned and the corresponding spot measurement information; the spot measurement information is the spot position information obtained from the receiving screen when the parallel light source passes through the lens to be aligned.

[0066] Specifically, the spot formed by directly irradiating the parallel light source on the receiving screen is denoted as the standard spot, and the spot formed by the parallel light source passing through the lens to be aligned on the receiving screen is denoted as the measurement spot. Make each single light source in the parallel light source coincide with the corresponding standard spot in turn, and record the position of the lens each time they coincide, that is, the position measurement information, and the positions of the spots obtained when each light source passes through the lens to be aligned. In one implementation, the measurement spot of the central light source can be made to coincide with the standard spot first, and on the basis of keeping the position of the measurement spot of the central light source unchanged, the auxiliary light sources are made to coincide with the corresponding standard spots in turn. Among them, the position measurement information can be the relative distance between the lens to be aligned and the receiving screen, or the position information recorded by the first adjustment device that controls the movement of the lens to be aligned.

[0067] Step S230: Based on multiple sets of measurement information and the standard spot information, calculate the positions of the optical axis and the focal point of the lens to be aligned relative to the receiving screen.

[0068] Specifically, based on the difference between the spot measurement information and the standard spot information of the lens to be aligned under different position measurement information, calculate the angular attitude of the optical axis of the lens to be aligned in space and the spatial position of the focal point. In one embodiment, an alignment coordinate system is established based on the connection line between any standard spots in the parallel light source, and in combination with the difference between the spot measurement information and the standard spot information, calculate the positions of the optical axis and the focal point. Among them, the alignment coordinate system includes but is not limited to one of the Cartesian coordinate system, the spherical coordinate system or the cylindrical coordinate system.

[0069] Among them, after calculating the position of the focal point of the lens to be aligned relative to the receiving screen, adjust the alignment position of the lens to be aligned based on this position to complete the alignment with the sensor.

[0070] Step S240: Control the sensor to be aligned to move in space so that the sensor to be aligned is perpendicular to the optical axis and the geometric center of the sensor coincides with the focal point.

[0071] Specifically, the positions of the optical axis and the focal point of the lens to be aligned are based on the vector information of the receiving screen. Taking the receiving screen as the reference, use an optical instrument to measure the geometric center of the sensor, or convert the obtained known geometric center to the coordinate system where the receiving screen is located, so as to complete the alignment.

[0072] In this embodiment, by obtaining the standard spot information formed by directly irradiating a preset parallel light source on a preset receiving screen, the parallel light source includes a central light source and at least two groups of auxiliary light sources symmetrically arranged on both sides of the central light source; referring to the standard spot information, controlling the lens to be aligned to move between the parallel light source and the receiving screen, and recording multiple groups of measurement information; the measurement information includes the position measurement information of the lens to be aligned and the corresponding spot measurement information; the spot measurement information is the spot position information obtained from the receiving screen when the parallel light source passes through the lens to be aligned; based on the multiple groups of measurement information, calculate the optical axis and focal position of the lens to be aligned; control the sensor to be aligned to move in space so that the sensor to be aligned is perpendicular to the optical axis and the geometric center of the sensor coincides with the focal point, solving the problems of high alignment cost, low efficiency and poor accuracy of the lens and the sensor in the related art. The active alignment is carried out by the physical method of finding the center of the optical axis, and there will be no errors in the depth of field and the depth of focus, improving the alignment accuracy and consistency. Moreover, the requirements for building the alignment environment are not high, reducing costs and improving the alignment efficiency.

[0073] In some of these embodiments, based on step S220, referring to the standard spot information, controlling the lens to be aligned to move between the parallel light source and the receiving screen, and recording multiple groups of measurement information, including:

[0074] Step S221, referring to the position information of the central light source in the standard spot information, adjusting the position of the lens to be aligned between the parallel light source and the receiving screen so that the optical center of the lens to be aligned is located on the reference line; the reference line is the line where the light rays of the central light source are located.

[0075] Step S222, adjusting the lens to be aligned on the reference line so that the auxiliary measurement spots formed by each auxiliary light source passing through the lens to be aligned coincide with the positions of the spots of the corresponding auxiliary light sources in the standard spot information in sequence, and recording multiple groups of measurement information, the multiple groups of measurement information including the measurement position information of the lens to be aligned and the corresponding measurement spot information when each position coincides.

[0076] In some of these embodiments, based on step S221, referring to the position information of the central light source in the standard spot information, adjusting the position of the lens to be aligned between the parallel light source and the receiving screen so that the optical center of the lens to be aligned is located on the reference line where the central light source is located, including:

[0077] Step S221-a, placing the lens to be aligned at the first position, the first position being any position between the parallel light source and the receiving screen.

[0078] Step S221-b, recording the central measurement spot formed on the receiving screen after the central light source passes through the lens to be aligned at the first position.

[0079] Step S221-c: Based on the position difference between the central measurement light spot and the standard central light spot corresponding to the central light source in the standard light spot information, adjust the position of the lens to be aligned until the central measurement light spot coincides with the standard central light spot, thereby completing the placement of the optical center of the lens to be aligned on the reference line where the central light source is located.

[0080] Specifically, taking Figure 4 the collimated light including 5 light sources shown in as an example, P5 is the central light source, P1 and P3 are a pair of symmetric auxiliary light sources, P2 and P4 are another pair of symmetric auxiliary light sources, and the line connecting P1 and P3 is perpendicular to the line connecting P2 and P4. The standard light spot information of this collimated light source is respectively P1(X10, Y10), P2(X20, Y20), P3(X30, Y30), P4(X40, Y40), P5(X50, Y50). Move the lens to be aligned below the collimated light source. The 5 parallel input lights pass through the lens and hit the receiving screen, forming 5 new tiny light spots. Record the light spot measurement information of the 5 points as P1(X11, Y11), P2(X21, Y21), P3(X31, Y31), P4(X41, Y41), P5(X51, Y51) respectively. Calculate the spatial position difference based on the standard light spot information P5(X50, Y50) and the light spot measurement information P5(X51, Y51) of P5, and then decompose the calculation result into the X and Y coordinate values of the first adjustment device. Send corresponding instructions through the computer to adjust the first adjustment device, and adjust the position of the lens to be aligned in the horizontal direction so that the standard light spot information of P5 coincides with the light spot measurement information. That is, the optical center of the lens is on the middle P5 input light ray.

[0081] In some of these embodiments, based on Step S222, adjust the lens to be aligned on the reference line, successively making the auxiliary measurement light spots formed by each auxiliary light source passing through the lens to be aligned coincide with the light spots of the corresponding auxiliary light sources in the standard light spot information, and record multiple groups of measurement information, including:

[0082] Step S310: Place the lens to be aligned at the second position, where the second position is any position on the reference line.

[0083] Step S320: Record the auxiliary measurement light spots formed on the receiving screen after the auxiliary light source passes through the lens to be aligned at the second position.

[0084] Step S330: Determine the moving direction on the reference line based on the relationship between the auxiliary measurement light spot and the position of the standard light spot information.

[0085] Step S340: Adjust the lens to be aligned based on the moving direction, successively making each auxiliary measurement light spot coincide with the standard light spot information, and record multiple groups of measurement information.

[0086] Specifically, takingFigure 4 Taking the parallel light including 5 light sources shown in the figure as an example, the coordinate values of the 5 small light spots on the receiving screen at the second position are respectively P1(X12, Y12), P2(X22, Y22), P3(X32, Y32), P4(X42, Y42), P5(X52, Y52). At this time, at least P5 coincides with the standard light spot position, and the auxiliary light source does not necessarily fall on the standard light spot position, as Figure 5 and Figure 6 shown is the schematic diagram of the light spot formed when the parallel light source passes through the lens Figure 6 shows several situations of the relative positions of the receiving screen and the lens: the receiving screen 3 is located at the light convergence point, the position where the receiving screen 2 is located is the position when the light source at the tilted end of the lens coincides with the corresponding standard light spot coordinates, and the position where the receiving screen 1 is located is the position when the light source at the sunken end of the lens coincides with the corresponding standard light spot coordinates. Referring to Figure 6 the relative positions of the receiving screen and the lens in the figure, compare and calculate the information of the auxiliary measurement light spot and the standard light spot at the second position, and adjust the movement mode of the six-axis displacement stage 1 according to different situations:

[0087] Situation 1: If the coordinate values recorded later are all larger than the coordinate values of the standard light spot information, that is, the light spot falls on the outer periphery of the ring formed by the standard light spot, it means that the lens is far from the receiving screen, and it is necessary to adjust the first adjustment device to make the lens move downward. When the first value among P1 to P4 coincides with the coordinate value in the standard light spot information, record the value Z1 of the first adjustment device on the Z axis at this time, and the coordinate values X, Y of the light spot on the opposite side of the coincident light spot. For example: if the first light source to coincide with the standard light spot is P1, that is, the coordinates of P1 are (X10, Y10), then record the coordinate values P3(X33, Y33) of the light spot P3 on the opposite side, and the value Z1 of the first adjustment device on the Z axis. Then continue to adjust the first adjustment device downward, and sequentially record the coordinate values of the light spots on the opposite side and the value of the Z axis of the first adjustment device when the 4 light spots coincide. The corresponding relationship between the finally recorded Z value and the light spot is as follows:

[0088] When P1 coincides: P1 = (X10, Y10), Z = Z1, P3 = (X33, Y33).

[0089] When P2 coincides: P2 = (X20, Y20), Z = Z2, P4 = (X43, Y43).

[0090] When P3 coincides: P3 = (X30, Y30), Z = Z3, P1 = (X13, Y13).

[0091] When P4 coincides: P4 = (X40, Y40), Z = Z4, P2 = (X23, Y23).

[0092] Case 2: If the values recorded later are all smaller than the value of the standard spot information, that is, the spot falls inside the ring formed by the standard spot, it indicates that the lens is relatively close to the receiving screen, and the first adjustment device needs to be adjusted to move the lens upward. When the first value among P1 to P4 coincides with the original coordinate value in sequence, record the value Z1 of the Z-axis of the six-axis displacement stage at this time, and the coordinate values X and Y of the spot on the opposite side of the coincident spot. The subsequent calculations are basically the same as those in Case 1, and will not be elaborated here.

[0093] Case 3: If there are values smaller than the value of the standard spot information and values larger than the value of the standard spot information among the values recorded later, that is, the spot falls both inside and outside the ring formed by the standard spot, the first adjustment device can be adjusted to move the lens upward until all points are inside the ring formed by the initial standard spot. That is, a state the same as that in Case 1 is formed, and the subsequent operations and calculations are basically the same as those in Case 1, and will not be elaborated here.

[0094] In some of these embodiments, based on step S230, based on multiple sets of measurement information and standard spot information, calculating the positions of the optical axis and focus of the lens to be aligned relative to the receiving screen includes:

[0095] The auxiliary light source includes at least two pairs of auxiliary light sources. The connection line between the two auxiliary light sources in each pair passes through the central light source, and at least two connection lines are perpendicular to each other.

[0096] Step S231, establish a Cartesian coordinate system based on the plane where the receiving screen is located. Among them, use the central light source in the standard spot information as the origin, establish the X-axis and Y-axis in the directions corresponding to two mutually perpendicular connection lines, and establish the Z-axis with the reference line.

[0097] Step S232, based on the measurement position information corresponding to at least two pairs of auxiliary light sources with perpendicular connection lines, calculate the offsets of the optical axis of the lens to be aligned relative to the X-axis and Y-axis.

[0098] Specifically, for the layout positions of 5 parallel light sources, where P5 is the center point position, and P1 and P3 are the symmetric vertex positions on a diameter of the circle. P2 and P4 are the vertices perpendicular to the connection line of P1 and P3. The length of the connection line between P2 and P4 is the diameter D, and the diameter D shall not be greater than the lens diameter, and generally takes a value of 0.75 to 0.8 times the lens diameter.

[0099] When the first adjustment device is a six-axis displacement stage, since the six-axis displacement stage is based on the Cartesian coordinate system, the angle of the spatial optical axis offset can be decomposed into the angles with the Cartesian coordinate axes, which is convenient for model building, conventional calculations by personnel, and inverse calculation of the spatial offset angle of the optical axis through measurement values. Among them, the Cartesian coordinate system is built in the following way. Take the connection line between P1 and P3 as one axis of the Cartesian coordinate, such as the X axis; take the connection line between P2 and P4 as one axis of the Cartesian coordinate, such as the Y axis; P5 is the intersection point of the connection line between P1 and P3 and the connection line between P2 and P4 as the origin of the Cartesian coordinate. Take the optical axis direction of P5 as the last axis of the Cartesian coordinate, such as the Z axis. The calculation formula for the angular attitude of the optical axis is as follows: tanα = (|Z1 - Z3|) / D; tanβ = (|Z2 - Z4|) / D, where tanα represents the values of Z1 and Z3 recorded when P1 and its diagonal point P3 coincide with the original point successively, D is the straight-line distance between the diagonal points, which can be understood as the ratio of the distance between the sinking point and the high point to the diagonal point distance, and their inclination angles, that is, the spatial attitude, are obtained. Similarly for tanβ.

[0100] Step S233: Based on the measurement position information, the corresponding measurement spot information, and the standard spot information of at least two pairs of auxiliary light sources with perpendicular connection lines, calculate the relative position information between the focus of the lens to be aligned and the origin.

[0101] In some of these embodiments, based on step S233, based on the measurement position information, the corresponding measurement spot information, and the standard spot information of at least two pairs of auxiliary light sources with perpendicular connection lines, calculating the relative position information between the focus of the lens to be aligned and the origin includes:

[0102] Step S233-a: For each auxiliary light source in each pair of auxiliary light sources, calculate the focus position compensation amount of the current auxiliary light source based on the calculation parameters of the auxiliary light source and the opposite-side auxiliary light source; where the calculation parameters include measurement position information, measurement spot information, and standard spot information.

[0103] Step S233-b: Based on the focus position compensation amounts of each auxiliary light source and the corresponding measurement position information, calculate the focus position measurement information of the focus of the lens to be aligned in the Z-axis upward direction.

[0104] Specifically, the calculation formulas for the focus position compensation amount S and the focus position measurement information Z are as follows:

[0105] S1 / |Z1 - Z3| = (D + |X13 - X10|) / |X13 - X10|;

[0106] S2 / |Z1 - Z3| = (D - |X33 - X30|) / |X33 - X30|;

[0107] S3 / |Z2 - Z4| = (D + |X23 - X20|) / |X23 - X20|;

[0108] S4 / |Z2 - Z4| = (D - |X43 - X40|) / |X43 - X40|;

[0109] Z = (|Z1 - S1| + |Z2 - S2| + |Z3 - S3| + |Z4 - S4|) / 4.

[0110] In some of these embodiments, after calculating the relative position information between the focus of the lens to be aligned and the origin, it further includes:

[0111] Step S234, obtaining the starting position of the lens to be aligned, where the starting position is the position of the lens to be aligned when the first auxiliary measurement light spot coincides with the standard light spot information.

[0112] Step S235, controlling the lens to be aligned to move to the target position on the reference line, where the distance between the target position and the starting position is equal to the distance in the relative position information.

[0113] Specifically, for example, in Case 1, the first light source that coincides with the standard light spot first is P1, that is, the coordinates of P1 are (X10, Y10), and the value of the first adjustment device on the Z-axis is Z1. Then, after calculating the relative position information between the focus of the lens to be aligned and the origin, adjust the first adjustment device to return to the position of value Z1. Starting from Z1, adjust the first adjustment device again along the direction approaching the receiving screen (the moving direction corresponding to Case 1), and the moving distance is Z (i.e., the focus position measurement information). Based on this, determine the position of the lens to be aligned for alignment with the sensor.

[0114] In some of these embodiments, based on Step S240, controlling the sensor to be aligned to move in space so that the sensor to be aligned is perpendicular to the optical axis and the geometric center of the sensor coincides with the focus, includes:

[0115] Step S241, adjusting the position of the sensor to be aligned in space based on the offsets of the optical axis of the lens to be aligned relative to the X-axis and the Y-axis, so that the target surface of the sensor to be aligned is perpendicular to the optical axis.

[0116] Specifically, move the sensor below the collimator and use the collimator to measure the angle of the plane where the target surface of the sensor is located. The goal is to adjust the position of the sensor so that the xy angles of the plane coordinate system measured by the collimator coincide with the α and β planes calculated in the Cartesian coordinate system XY. At this time, the target surface of the sensor to be aligned is perpendicular to the optical axis. Specifically, according to the data measured by the collimator, decompose the measured angle into angles with respect to the horizontal X-axis and Y-axis. The computer sends the angle commands to the second adjustment device to adjust the corresponding angles of the X and Y axes. Then, read the measurement data of the collimator again to check whether the accuracy requirements are met. Otherwise, repeat the previous step and continue to adjust until the angle meets the accuracy requirements.

[0117] Step S242: Move the geometric center of the sensor to be aligned to the position of the origin.

[0118] Specifically, after the sensor to be aligned is perpendicular to the optical axis, horizontally move the sensor to be aligned under the high-definition camera. The high-definition camera takes a photo of the sensor to be aligned, and performs image processing on the photo to extract the vector coordinate information of the two sides of the target surface of the sensor to be aligned. The vector coordinate data is transformed into a plane rectangular coordinate, which is compared with the standard coordinate system (i.e., the Cartesian coordinate system XY), and the rotation angle deviation value from the standard coordinate system is calculated. The computer converts this angle deviation value into the angle value of the rotation motor of the second adjustment device and sends the command to the second adjustment device to adjust the horizontal angle position of the sensor to be aligned so that the right-angle coordinate system formed by the two sides of the sensor to be aligned is parallel to the X and Y axes of the standard coordinate system. See Figure 6 , record the coordinates (X´, Y´) of the origin of the right-angle coordinate system, extract the side length information, the side length corresponding to the X-axis is L, and the side length corresponding to the Y-axis is W. That is, the coordinate value of the optical center of the sensor to be aligned is (X´´, Y´´), and the calculation formula is as follows: X´´ = X´ + L / 2; Y´´ = Y´ + W / 2.

[0119] Then control the second adjustment device to move the sensor to be aligned below the laser rangefinder (the laser rangefinder and the light screen need to be calibrated in advance. Measure the distance to the light screen with the receiving light rangefinder and zero it. It does not need to be calibrated every time, as long as the device is calibrated at the beginning). Measure the Z-axis value Z´ of the target surface of the sensor to be aligned (i.e., the distance relative to the receiving light screen), and record Z´. The spatial coordinate value of the optical center of the sensor to be aligned, that is, the geometric center, is expressed as: (X´´, Y´´, Z´).

[0120] Then control the second adjustment device to adjust the sensor to be aligned to move distances of X´´, Y´´, and Z´ on the X-axis, Y-axis, and Z-axis respectively, so that the geometric center of the sensor to be aligned is aligned with the standard center spot (i.e., the origin).

[0121] Step S243: Based on the relative position information, move the sensor to be aligned in the Z-axis direction so that the geometric center of the sensor coincides with the focus.

[0122] Specifically, control the second adjustment device to continue adjusting the sensor to be aligned on the Z-axis, moving a distance of Z, so that the geometric center of the sensor coincides with the focus.

[0123] This embodiment also provides an alignment device for a lens and a sensor. Refer to Figure 7 , the device includes: a parallel light source 810, a receiving screen 820, a spot detection device 830, a first adjustment device 840, a second adjustment device 850, and a control device.

[0124] The spot detection device 830 is used to collect spot information on the receiving screen 820; the first adjustment device 840 is used to adjust the position of the lens 910 to be aligned; the second adjustment device 850 is used to adjust the position of the sensor 920 to be aligned.

[0125] The control device is respectively connected to the spot detection device 830, the first adjustment device 840, and the second adjustment device 850, and is used to execute the steps of any one of the above alignment methods for the lens and the sensor.

[0126] In some of these embodiments, the first adjustment device 840 includes a first six-axis displacement stage; the first six-axis displacement stage is used to adjust the position of the lens 910 to be aligned and send the position information of the lens 910 to be aligned in the Z-axis direction as position measurement information to the control device. The second adjustment device 850 includes a pose measurement device 851 and a pose adjustment device 852; the pose measurement device 851 is used to measure the spatial angle and geometric center of the sensor 920 to be aligned; the pose adjustment device 852 is used to adjust the position of the sensor 920 to be aligned in space. The pose adjustment device 852 includes a second six-axis displacement stage 8521 and a horizontal movement platform 8522; the second six-axis displacement stage 8521 is used to adjust the spatial pose of the sensor to be measured; the horizontal movement platform 8522 is used to horizontally move the sensor 920 to be aligned to a specified position.

[0127] In some of these embodiments, the pose measurement device 851 includes a collimator 8511, a second camera 8512, and a laser rangefinder 8513. The collimator 8511 is used to measure the angle of the sensor 920 to be aligned in space; the second camera 8512 is used to calculate the two-dimensional coordinates of the geometric center of the sensor 920 to be aligned on the X-axis and Y-axis; the laser rangefinder 8513 is used to calculate the distance between the sensor 920 to be aligned and the receiving screen 820.

[0128] In this embodiment, the alignment device for the lens and the sensor locates the lens and the sensor physically respectively, and then adjusts the geometric center of the sensor to coincide with the focal point. This method is more accurate, which is a direct manifestation of the physical optical axis and there will be no errors in depth of field and focal depth. In addition, traditional AA devices require a test card. According to the lens field of view angle, for some large field of view angles, a relatively large test card is needed. However, the size of the device in this embodiment is not restricted by the test card, and it can reduce the volume through a more compact structure, so as to be arranged more flexibly at various positions on the production line.

[0129] The following describes and illustrates this embodiment through preferred embodiments.

[0130] See Figure 8 , the alignment device for the lens and the sensor includes: a parallel light source 810, a receiving light screen 820, a spot detection device 830, a first adjustment device 840, a second adjustment device 850, and a control device.

[0131] The parallel light source 810 is arranged directly above the lens, a receiving light screen 820 is placed below the lens, the spot detection device 830 is arranged in parallel with the receiving light screen 820, and the lens is placed on the first adjustment device 840. The spot detection device 830 is used to collect the spot information on the receiving light screen 820; the first adjustment device 840 is used to adjust the position of the lens 910 to be aligned; the second adjustment device 850 is used to adjust the position of the sensor 920 to be aligned.

[0132] The first adjustment device 840 includes a first six-axis displacement stage; the first six-axis displacement stage is used to adjust the position of the lens 910 to be aligned, and send the position information of the lens 910 to be aligned in the Z-axis direction as position measurement information to the control device.

[0133] The second adjustment device 850 includes a pose measurement device 851 and a pose adjustment device 852; the pose adjustment device 852 includes a second six-axis displacement stage 8521 and a horizontal movement platform 8522; the second six-axis displacement stage 8521 is used to adjust the spatial pose of the sensor to be measured; the horizontal movement platform 8522 is used to horizontally move the sensor 920 to be aligned to a specified position. The pose measurement device 851 includes a collimator 8511, a second camera 8512, and a laser rangefinder 8513. The collimator 8511 is used to measure the angle of the sensor 920 to be aligned in space; the second camera 8512 is used to calculate the two-dimensional coordinates of the geometric center of the sensor 920 to be aligned on the X-axis and Y-axis; the laser rangefinder 8513 is used to calculate the distance between the sensor 920 to be aligned and the receiving light screen 820.

[0134] Take Figure 8Taking the collimated light including 5 light sources shown in the figure as an example, P5 is the central light source, P1 and P3 are a pair of symmetric auxiliary light sources, P2 and P4 are another pair of symmetric auxiliary light sources, and the line connecting P1 and P3 is perpendicular to the line connecting P2 and P4. The standard spot information of the collimated light source 810 is P1(X10, Y10), P2(X20, Y20), P3(X30, Y30), P4(X40, Y40), and P5(X50, Y50) respectively.

[0135] Move the lens 910 to be aligned below the collimated light source 810. The 5 parallel input lights pass through the lens and hit the receiving screen 820, forming 5 new tiny spots. Record the spot measurement information of the 5 points as P1(X11, Y11), P2(X21, Y21), P3(X31, Y31), P4(X41, Y41), and P5(X51, Y51) respectively. Calculate the spatial position difference based on the standard spot information P5(X50, Y50) and the spot measurement information P5(X51, Y51) of P5, and then decompose the calculation result into the X and Y coordinate values of the first adjusting device 840. Send corresponding instructions through the computer to adjust the first adjusting device 840 to adjust the position of the lens 910 to be aligned in the horizontal direction so that the standard spot information of P5 coincides with the spot measurement information. That is, the optical center of the lens is on the middle P5 input light ray. Record the coordinates of the 5 tiny spots on the receiving screen 820 when the optical center of the lens coincides with the P5 light ray: P1(X12, Y12), P2(X22, Y22), P3(X32, Y32), P4(X42, Y42), P5(X52, Y52). At this time, at least P5 coincides with the standard spot position, and the auxiliary light sources do not necessarily fall on the standard spot position. The following situations can be referred to:

[0136] Situation 1: If the coordinate values of the auxiliary light sources recorded later are all larger than the coordinate values of the standard spot information, that is, the spots fall on the periphery of the ring formed by the standard spots, it means that the lens is far from the receiving screen 820, and the first adjusting device 840 needs to be adjusted to move the lens downward. When the first value among P1 to P4 coincides with the coordinate value in the standard spot information, record the value Z1 of the first adjusting device 840 on the Z axis at this time, and the coordinate values X and Y of the spot on the opposite side of the coincident spot. For example: The first light source to coincide with the standard spot is P1, that is, the coordinates of P1 are (X10, Y10), then record the coordinate values of the spot P3 on the opposite side P3(X33, Y33) and the value Z1 of the first adjusting device 840 on the Z axis. Then continue to adjust the first adjusting device 840 downward, and record the coordinate values of the spots on the opposite side and the value of the Z axis of the first adjusting device 840 when the 4 spots coincide in turn. The final corresponding relationship between the recorded Z value and the spots is as follows:

[0137] When P1 coincides: P1 = (X10, Y10), Z = Z1, P3 = (X33, Y33).

[0138] When P2 coincides: P2 = (X20, Y20), Z = Z2, P4 = (X43, Y43).

[0139] When P3 coincides: P3 = (X30, Y30), Z = Z3, P1 = (X13, Y13).

[0140] When P4 coincides: P4 = (X40, Y40), Z = Z4, P2 = (X23, Y23).

[0141] Case 2: If the values recorded later are all smaller than the values of the standard spot information, that is, the spot falls inside the ring formed by the standard spot, it means that the lens is closer to the receiving screen 820. It is necessary to adjust the first adjusting device 840 to move the lens upward. When the first value among P1 to P4 coincides with the original coordinate value, record the value Z1 of the Z-axis of the first six-axis displacement stage at this time, and the coordinate values X and Y of the spot on the opposite side of the coincident spot. The subsequent calculations are basically the same as in Case 1 and will not be elaborated here.

[0142] Case 3: If there are values smaller than the values of the standard spot information and values larger than the values of the standard spot information among the values recorded later, that is, the spot falls both inside and outside the ring formed by the standard spot, the first adjusting device 840 can be adjusted to move the lens upward until all points are inside the ring formed by the initial standard spot. That is, a state the same as in Case 1 is formed, and the subsequent operations and calculations are basically the same as in Case 1 and will not be elaborated here.

[0143] Next, calculate the angular attitude of the lens optical axis and the focal point spatial position according to the formula: The known conditions are the arrangement positions of 5 parallel light sources 810, where P5 is the center point position, and P1 and P3 are the vertex positions of a diameter symmetry on the circle. P2 and P4 are arranged at the vertex positions of the diameter perpendicular to the diameter connecting P1 and P3. The diameter is D.

[0144] Since both the first six-axis displacement stage and general calculations are based on the Cartesian coordinate system, the angle of the spatial optical axis offset can be decomposed into angles with the Cartesian coordinate axes, facilitating model construction, regular calculations by personnel, and inverse calculations of the spatial offset angle of the optical axis from measurement values. Among them, the Cartesian coordinate system is constructed in the following manner. The line connecting P1 and P3 is taken as one axis of the Cartesian coordinate, such as the X-axis; the line connecting P2 and P4 is taken as one axis of the Cartesian coordinate, such as the Y-axis; the intersection point P5 of the line connecting P1 and P3 and the line connecting P2 and P4 is taken as the origin of the Cartesian coordinate. The optical axis direction of P5 is taken as the last axis of the Cartesian coordinate, such as the Z-axis. The calculation formulas for the angular attitude of the optical axis are as follows: tanα = (|Z1 - Z3|) / D; tanβ = (|Z2 - Z4|) / D, where tanα represents the values of Z1 and Z3 recorded when P1 and its diagonal point P3 coincide with the original point successively, D is the straight-line distance between the diagonal points, which can be understood as the ratio of the distance between the sinking point and the high point to the diagonal point distance, and their inclination angles, that is, the spatial attitude, are obtained. The same applies to tanβ.

[0145] Among them, the line connecting P1 and P3 is taken as the X-axis of the Cartesian coordinate, and the line connecting P2 and P4 is taken as the Y-axis of the Cartesian coordinate. Then, the calculation formulas for the focus position compensation amount S and the focus position measurement information Z are as follows:

[0146] S1 / |Z1 - Z3| = (D + |X13 - X10|) / |X13 - X10|;

[0147] S2 / |Z1 - Z3| = (D - |X33 - X30|) / |X33 - X30|;

[0148] S3 / |Z2 - Z4| = (D + |X23 - X20|) / |X23 - X20|;

[0149] S4 / |Z2 - Z4| = (D - |X43 - X40|) / |X43 - X40|;

[0150] Z = (|Z1 - S,1| + |Z2 - S2| + |Z3 - S3| + |Z4 - S4|) / 4.

[0151] The Z value here is relative to the value of the light-receiving screen 820, that is, the distance between the rear focus of the lens and the light-receiving screen 820.

[0152] The following is the alignment process of the sensor:

[0153] It should be noted that there may be some inaccuracies in the translation due to the complexity of the technical content. It is recommended to double-check with relevant professionals for accurate understanding.Move the sensor under the collimator 8511 and use the collimator 8511 to measure the angle of the plane where the sensor target surface is located. The goal is to make the xy angles of the plane coordinate system measured by the collimator 8511 coincide with the α and β planes calculated in the Cartesian coordinate system XY by adjusting the sensor position. At this time, the target surface of the sensor 920 to be aligned is perpendicular to the optical axis. Specifically, according to the data measured by the collimator 8511, the measured angle is decomposed into angles for the horizontal X-axis and Y-axis. The computer sends the angle command to the second six-axis displacement stage 8521 to adjust the corresponding X and Y axis angles. Then, read the measurement data of the collimator 8511 again to check whether it meets the accuracy requirements. Otherwise, repeat the previous step and continue to adjust until the angle meets the accuracy requirements.

[0154] After the sensor 920 to be aligned is perpendicular to the optical axis, use the horizontal movement platform 8522 to horizontally move the sensor 920 to be aligned under the second camera 8512 (high-definition camera). The high-definition camera takes a photo of the sensor 920 to be aligned and performs image processing on the photo to extract the vector coordinate information of the two sides of the target surface of the sensor 920 to be aligned. The vector coordinate data is transformed into a plane rectangular coordinate and compared with the standard coordinate system (i.e., the Cartesian coordinate system XY) to calculate the rotation angle deviation value from the standard coordinate system. The computer converts this angle deviation value into the angle of the rotation motor of the second six-axis displacement stage 8521 and sends the command to the second six-axis displacement stage 8521 to adjust the horizontal angle position of the sensor 920 to be aligned so that the rectangular coordinate system formed by the two sides of the sensor 920 to be aligned is parallel to the X and Y axes of the standard coordinate system. See Figure 4 Figure 7 , record the coordinates (X´, Y´) of the origin of the rectangular coordinate system, extract the side length information, the side length corresponding to the X-axis is L, and the side length corresponding to the Y-axis is W. That is, the coordinate value of the optical center of the sensor 920 to be aligned is (X´´, Y´´), and the calculation formula is as follows: X´´ = X´ + L / 2; Y´´ = Y´ + W / 2.

[0155] Then control the second six-axis displacement stage 8521 to move the sensor 920 to be aligned under the laser rangefinder 8513 (the laser rangefinder 8513 and the light screen need to be calibrated in advance. Measure the distance to the light screen with the receiving light rangefinder and zero it. It does not need to be calibrated every time, as long as the device is calibrated at the beginning). Measure the Z-axis value Z´ of the target surface of the sensor 920 to be aligned (i.e., the distance relative to the receiving light screen 820) and record Z´. The spatial coordinate value of the optical center of the sensor 920 to be aligned, that is, the geometric center, is expressed as: (X´´, Y´´, Z´).

[0156] Next, control the second six-axis displacement stage 8521 to adjust the distance that the sensor to be aligned 920 moves by X´´, Y´´, and Z´ on the X-axis, Y-axis, and Z-axis respectively, so that the geometric center of the sensor to be aligned 920 is aligned with the standard center spot (i.e., the origin). Continue to control the second six-axis displacement stage 8521 to further adjust the sensor to be aligned 920 on the Z-axis, moving a distance of Z, so that the geometric center of the sensor coincides with the focus.

[0157] It should be understood that the specific embodiments described herein are only used to explain this application and not to limit it. According to the embodiments provided in this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the protection scope of this application.

[0158] Obviously, the drawings are only some examples or embodiments of this application. For those of ordinary skill in the art, this application can also be applied to other similar situations based on these drawings without creative efforts. Additionally, it can be understood that although the work done during this development process may be complex and time-consuming, for those of ordinary skill in the art, certain design, manufacturing, or production changes based on the technical content disclosed in this application are only conventional technical means and should not be regarded as insufficient disclosure of this application.

[0159] The term "embodiment" in this application means that the specific features, structures, or characteristics described in connection with the embodiment may be included in at least one embodiment of this application. The phrase appears in various positions in the specification and does not necessarily mean the same embodiment, nor does it mean being independent or alternative to other embodiments and mutually exclusive. Those of ordinary skill in the art can clearly or implicitly understand that the embodiments described in this application can be combined with other embodiments without conflict.

[0160] The above-described embodiments only represent several implementation manners of this application. Their descriptions are relatively specific and detailed, but should not be construed as limiting the scope of patent protection. It should be noted that for those of ordinary skill in the art, without departing from the concept of this application, several modifications and improvements can still be made, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be subject to the appended claims.

Claims

1. An alignment method for a lens and a sensor, characterized in that, The method includes: Obtaining standard spot information formed by a preset parallel light source directly irradiating a preset light receiving screen, where the parallel light source includes a central light source and an auxiliary light source spaced a preset distance from the central light source; Referring to the standard spot information, controlling the movement of the lens to be aligned between the parallel light source and the light receiving screen, and recording multiple groups of measurement information; the measurement information includes position measurement information of the lens to be aligned and corresponding spot measurement information; the spot measurement information is the spot position information obtained from the light receiving screen when the parallel light source passes through the lens to be aligned; Based on multiple groups of the measurement information and the standard spot information, calculating the positions of the optical axis and the focus of the lens to be aligned relative to the light receiving screen; Controlling the movement of the sensor to be aligned in space so that the sensor to be aligned is perpendicular to the optical axis and the geometric center of the sensor coincides with the focus.

2. The alignment method of the lens and the sensor according to claim 1, characterized in that Referring to the standard spot information, controlling the movement of the lens to be aligned between the parallel light source and the light receiving screen, and recording multiple groups of measurement information, including: Referring to the position information of the central light source in the standard spot information, adjusting the position of the lens to be aligned between the parallel light source and the light receiving screen so that the optical center of the lens to be aligned is located on a reference line; the reference line is the line where the light rays of the central light source are located; Adjusting the lens to be aligned on the reference line so that the auxiliary measurement spots formed by each of the auxiliary light sources passing through the lens to be aligned coincide with the positions of the spots of the corresponding auxiliary light sources in the standard spot information in sequence, and recording multiple groups of measurement information, where the multiple groups of measurement information include the measurement position information of the lens to be aligned and the corresponding measurement spot information when each position coincides.

3. The alignment method of the lens and the sensor according to claim 2, characterized in that, Referring to the position information of the central light source in the standard spot information, adjusting the position of the lens to be aligned between the parallel light source and the light receiving screen so that the optical center of the lens to be aligned is located on a reference line, including: Placing the lens to be aligned at a first position, where the first position is any position between the parallel light source and the light receiving screen; Recording the central measurement spot formed on the light receiving screen after the central light source passes through the lens to be aligned at the first position; Based on the position difference between the central measurement spot and the standard central spot corresponding to the central light source in the standard spot information, adjusting the position of the lens to be aligned until the central measurement spot coincides with the standard central spot, and completing placing the optical center of the lens to be aligned on the reference line.

4. The alignment method of the lens and the sensor according to claim 2, characterized in that, Adjusting the lens to be aligned on the reference line so that the auxiliary measurement spots formed by each of the auxiliary light sources passing through the lens to be aligned coincide with the positions of the spots of the corresponding auxiliary light sources in the standard spot information in sequence, and recording multiple groups of measurement information, including: Placing the lens to be aligned at a second position, where the second position is any position on the reference line; Recording the auxiliary measurement spot formed on the light receiving screen after the auxiliary light source passes through the lens to be aligned at the second position; Determine the moving direction on the reference line based on the relationship between the auxiliary measurement light spot and the position of the standard light spot information; Adjust the lens to be aligned based on the moving direction, successively making each of the auxiliary measurement light spots coincide with the standard light spot information, and record multiple groups of measurement information.

5. The alignment method of the lens and the sensor according to claim 4, characterized in that, Based on multiple groups of the measurement information and the standard light spot information, calculate the position of the optical axis and the focal point of the lens to be aligned relative to the receiving screen, including: The auxiliary light source includes at least two pairs of auxiliary light sources. The connection line between the two auxiliary light sources in each pair passes through the central light source, and at least two of the connection lines are perpendicular to each other; Establish a Cartesian coordinate system based on the plane where the receiving screen is located. Among them, use the central light source in the standard light spot information as the origin, establish the X-axis and the Y-axis in the directions corresponding to two mutually perpendicular connection lines, and establish the Z-axis based on the reference line; Based on the measurement position information corresponding to at least two pairs of auxiliary light sources with perpendicular connection lines, calculate the offset of the optical axis of the lens to be aligned relative to the X-axis and the Y-axis; Based on the measurement position information, the corresponding measurement light spot information, and the standard light spot information corresponding to at least two pairs of auxiliary light sources with perpendicular connection lines, calculate the relative position information between the focal point of the lens to be aligned and the origin; 6. The alignment method of the lens and the sensor according to claim 5, characterized in that, Based on the measurement position information, the corresponding measurement light spot information, and the standard light spot information corresponding to at least two pairs of auxiliary light sources with perpendicular connection lines, calculate the relative position information between the focal point of the lens to be aligned and the origin, including: For each of the auxiliary light sources in each pair of the auxiliary light sources, calculate the focal point position compensation amount of the current auxiliary light source based on the calculation parameters of the current auxiliary light source and the opposite-side auxiliary light source; wherein, the calculation parameters include the measurement position information, the measurement light spot information, and the standard light spot information; Calculate the relative position information between the focal point of the lens to be aligned and the origin based on the focal point position compensation amounts of each of the auxiliary light sources and the corresponding measurement position information.

7. The alignment method of the lens and the sensor according to claim 5, characterized in that, Control the sensor to be aligned to move in space, making the sensor to be aligned perpendicular to the optical axis, and the geometric center of the sensor coincide with the focal point, including: Adjust the position of the sensor to be aligned in space based on the offset of the optical axis of the lens to be aligned relative to the X-axis and the Y-axis, making the target surface of the sensor to be aligned perpendicular to the optical axis; Move the geometric center of the sensor to be aligned to the position of the origin; Based on the relative position information, move the sensor to be aligned on the Z-axis to make the geometric center of the sensor coincide with the focal point.

8. The alignment method of the lens and the sensor according to claim 5, characterized in that After calculating the relative position information between the focal point of the lens to be aligned and the origin, it further includes: Obtain the starting position of the lens to be aligned, where the starting position is the position of the lens to be aligned when the first auxiliary measurement light spot coincides with the standard light spot information; Control the lens to be aligned to move to the target position on the reference line, and the distance between the target position and the starting position is equal to the distance in the relative position information.

9. An alignment device for a lens and a sensor, characterized in that, The device includes: a parallel light source, a receiving screen, a spot detection device, a first adjustment device, a second adjustment device, and a control device; The spot detection device is used to collect spot information on the receiving screen; The first adjustment device is used to adjust the position of the lens to be aligned; The second adjustment device is used to adjust the position of the sensor to be aligned; The control device is respectively connected to the spot detection device, the first adjustment device, and the second adjustment device, and is used to execute the steps of the method described in any one of claims 1 to 7.

10. The alignment device for a lens and a sensor according to claim 9, characterized in that, The first adjustment device includes a first six-axis displacement stage; the first six-axis displacement stage is used to adjust the position of the lens to be aligned and send the position information of the lens to be aligned in the Z-axis direction to the control device as position measurement information; The second adjustment device includes a pose measurement device and a pose adjustment device; the pose measurement device is used to measure the spatial angle and geometric center of the sensor to be aligned; the pose adjustment device is used to adjust the position of the sensor to be aligned in space.

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